4 Repair
4.4.2. Replacement of complete wrist unit
3HAC022033-001 Revision: K280
© Copyright 2004-2011 ABB. All rights reserved.
Removal, wrist unit
The procedure below details how to remove the complete wrist unit.
Standard toolkit - Content is defined in
section Standard toolkit on
page 427.
Calibration Pendulum
toolkit
3HAC15716-1 Complete kit that also
includes operating
manual.
Other tools and
procedures may be
required. See references
to these procedures in
the step-by-step instruc-
tions below.
These procedures include
references to the tools
required.
Circuit diagram - See chapter Circuit
diagram.
Equipment, etc. Spare part no. Art. no. Note
Action Note
1.
DANGER!
Turn off all electric power, hydraulic and pneumatic
pressure supplies to the robot!
Turn off all electric power and hydraulic but not the air
pressure to the gearboxes, motors and SMB.
2. Remove all equipment fitted to the turning disk.
3. Turn axis 4 to a position where the cover, axis 5 faces
upwards.
Shown in the figure Location of
wrist unit on page 279.
4. Remove the cover, axis 5, by unscrewing its
attachment screws.
5.
CAUTION!
The complete wrist unit weighs 200 kg! All lifting
equipment used must be sized accordingly!
6. Fit the lifting tool, wrist unit to the two holes on the
sealing surface against the cover, axis 5.
Art. no. is specified in Required
equipment on page 279.
If required, cut any cable ties
securing the cables in order to fit
the tool.
7. Remove the rear cover by unscrewing its attach-
ments.
Shown in the figure Location of
wrist unit on page 279.
8. Disconnect connector R2.M5/6 at the rear cable
division point.
Shown in the figure Location of
wrist unit on page 279.
9. Remove all cable attachment inside the upper arm
and at the rear of the robot.
Do not remove the attachments
from the cabling!
10. Slightly raise the wrist unit to unload the screw joint,
facilitating removal of the attachment screws.
Continued
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